The z-Transform

Content
Introduction
z-Transform
Zeros

and Poles
Region of Convergence
Important z-Transform Pairs
Inverse z-Transform
z-Transform Theorems and Properties
System Function

The z-Transform
Introduction

Why z-Transform?
A generalization

of Fourier transform
Why generalize it?

FT does not converge on all sequence

Notation good for analysis
Bring the power of complex variable theory deal with
the discrete-time signals and systems

The z-Transform
z-Transform

Definition
The

z-transform of sequence x(n) is defined by

X ( z)

x ( n) z

n
Let

z = ej.
j

X (e )

x ( n )e

Fourier
Transform

j n

z-Plane
T
j

X (e )

Im

x ( n )e

z = ej

j n

Re

Fourier
Fourier Transform
Transform isis to
to evaluate
evaluate z-transform
z-transform
on
on aa unit
unit circle.
circle.

z-Plane
Im

X(z)

z = ej

Re
Im
Re

Periodic Property of FT
X(ej)

X(z)

Im
Re

Can
Canyou
yousay
saywhy
whyFourier
FourierTransform
Transformisis
aaperiodic
periodicfunction
functionwith
withperiod
period2?
2?

The z-Transform
Zeros and Poles

Definition
Give

a sequence, the set of values of z for which the

z-transform converges, i.e., |X(z)|<, is called the
region of convergence.

q
ROC
ROC is
is centered
centered on
on origin
origin and
and
consists
consists of
of aa set
set of
of rings.
rings.

Example: Region of Convergence

Im

ROC
ROCisisan
an annual
annualring
ringcentered
centered
on
on the
theorigin.
origin.

r
Re

Rx ^ | z^ | Rx
1 ... k

i 1,2,..., n

Stable Systems
A stable

system requires that its Fourier transform is

uniformly convergent.
Im

Re

Fact: Fourier transform is to

evaluate z-transform on a unit
circle.
A stable system requires the
ROC of z-transform to include
the unit circle.

Example: A right sided Sequence

xx((nn))aannuu((nn))

x(n)

...
-8 -7 -6 -5 -4 -3 -2 -1

1 2 3 4 5 6 7 8 9 10

Example: A right sided Sequence

For convergence of X(z), we
require that

xx((nn))aa uu((nn))
nn

X ( z)

a u (n)z
n

1
|
az
|

n 0

| z || a |

a n z n
n 0

(az 1 ) n
n 0

| az 1 | 1

1
z
X ( z ) (az )

1
1 az
za
n 0
1 n

| z || a |

Example: A right sided Sequence

ROC for x(n)=anu(n)
zz
XX((zz))
,,
zzaa

| |zz||| |aa| |

Which
Which one
one isis stable?
stable?

Im

Im

Re

Re

Example: A left sided Sequence

xx((nn))aannuu((nn11))

-8 -7 -6 -5 -4 -3 -2 -1

1 2 3 4 5 6 7 8 9 10

...
x(n)

Example: A left sided Sequence

xx((nn))aa uu((nn11))
nn

X ( z ) a u (n 1)z
n

n
1

a n z n

For convergence of X(z), we

require that

1
|
a
z|

| a 1 z | 1

n 0

| z || a |

a n z n
n 1

1 a n z n
n 0

1
z
X ( z ) 1 (a z ) 1

1
1 a z z a
n 0
1

| z || a |

Example: A left sided Sequence

ROC for x(n)=anu( n1)
zz
XX((zz))
,,
zzaa

| |zz||| |aa| |

Which
Which one
one isis stable?
stable?

Im

Im

Re

Re

The z-Transform
Region of
Convergence

Represent z-transform as a
Rational Function

P( z )
X ( z)
Q( z )

where P(z) and Q(z) are

polynomials in z.

Zeros: The values of zs such that X(z) = 0

Poles: The values of zs such that X(z) =

Example: A right sided Sequence

z
X ( z)
,
za

x ( n) a n u ( n)

| z || a |

Im

Re

ROC is bounded by the

pole and is the exterior
of a circle.

Example: A left sided Sequence

z
X ( z)
,
za

x(n) a n u ( n 1)

| z || a |

Im

Re

ROC is bounded by the

pole and is the interior
of a circle.

Example: Sum of Two Right Sided Sequences

x(n) ( 12 ) n u (n) ( 13 ) n u (n)

z
z
2 z ( z 121 )
X ( z)

1
1
z2 z3
( z 12 )( z 13 )
Im

ROC is bounded by poles

and is the exterior of a circle.
1/12
1/3

1/2

Re

ROC does not include any pole.

0 y 1 x
n

(y

i 1

1
n
Example:

y )( xi x)

A Two
Sided
Sequence
2

( x x)
i

i 1

yi 0 1 xi

1
z
z
2
z
(
z

12 )
n
X ( z)

1
1
( z 13 )( z 12 )
xi z 3 z 2
x i 1 Im

ROC is bounded by poles

and is a ring.

1/12
i

y 1/3i 1
n

1/2

Re

ROC does not include any pole.

Example: A Finite Sequence

x ( n) a n ,
N 1

0 n N 1

X ( z) a z
n 0

Im

N 1

( az )

1 n

n 0

N-1 zeros

1 (az 1 ) N

1 az 1

1 zN aN
N 1
z
za

ROC: 0 < z <

ROC does not include any pole.

N-1 poles

Re

Always
Always Stable
Stable

Properties of ROC

A ring or disk in the z-plane centered at the origin.

The Fourier Transform of x(n) is converge absolutely iff the ROC
includes the unit circle.
The ROC cannot include any poles
Finite Duration Sequences: The ROC is the entire z-plane except
possibly z=0 or z=.
Right sided sequences: The ROC extends outward from the outermost
finite pole in X(z) to z=.
Left sided sequences: The ROC extends inward from the innermost
nonzero pole in X(z) to z=0.

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im

Find
Find the
the possible
possible
ROCs
ROCs

a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 1: A right sided Sequence.
a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 2: A left sided Sequence.
a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 3: A two sided Sequence.
a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Case 4: Another two sided Sequence.

Im

a b

Re

The z-Transform
Important
z-Transform Pairs

Z-Transform Pairs
Sequence

z-Transform

(n)

( n m )

z m

ROC
All z
All z except 0 (if m>0)
or (if m<0)

u (n)

1
1 z 1

| z | 1

u ( n 1)

1
1 z 1

| z | 1

a u (n)

1
1 az 1

| z || a |

a n u (n 1)

1
1 az 1

| z || a |

Z-Transform Pairs
Sequence

z-Transform

[cos 0 n]u (n)

1 [cos 0 ] z 1
1 [2 cos 0 ]z 1 z 2

| z | 1

[sin 0 n]u (n)

[sin 0 ] z 1
1 [ 2 cos 0 ] z 1 z 2

| z | 1

[r n cos 0 n]u (n)

1 [ r cos 0 ]z 1
1 [ 2r cos 0 ]z 1 r 2 z 2

| z | r

[r n sin 0 n]u (n)

[ r sin 0 ] z 1
1 [2r cos 0 ]z 1 r 2 z 2

| z | r

1 a N zN
1 az 1

| z | 0

an

0 n N 1
otherwise

ROC

The z-Transform
Inverse z-Transform

The z-Transform
z-Transform Theorems
and Properties

Linearity
Z[ x(n)] X ( z ),

z Rx

Z[ y (n)] Y ( z ),

z Ry

Z[ax(n) by (n)] aX ( z ) bY ( z ),

z Rx R y
Overlay of
the above two
ROCs

Shift
Z[ x(n)] X ( z ),

z Rx

Z[ x(n n0 )] z X ( z )
n0

z Rx

Multiplication by an Exponential Sequence

Z[ x(n)] X ( z ),

Rx- | z | Rx

Z[a x(n)] X (a z )
n

z | a | Rx

Differentiation of X(z)
Z[ x(n)] X ( z ),

dX ( z )
Z[nx(n)] z
dz

z Rx

z Rx

Conjugation
Z[ x(n)] X ( z ),

Z[ x * (n)] X * ( z*)

z Rx

z Rx

Reversal
Z[ x(n)] X ( z ),

Z[ x(n)] X ( z )

z Rx

z 1 / Rx

Real and Imaginary Parts

Z[ x(n)] X ( z ),

z Rx

Re[ x(n)] 12 [ X ( z ) X * ( z*)]

Im[ x(n)]

1
2j

[ X ( z ) X * ( z*)]

z Rx
z Rx

Initial Value Theorem

x(n) 0,

for n 0

x(0) lim X ( z )
z

Convolution of Sequences
Z[ x(n)] X ( z ),
Z[ y (n)] Y ( z ),

z Rx
z Ry

Z[ x(n) * y (n)] X ( z )Y ( z )

z Rx R y

Convolution of Sequences
x ( n) * y ( n)

x(k ) y (n k )

Z[ x(n) * y (n)]

x(k ) y(n k )z

X ( z )Y ( z )

x(k ) y(n k )

x(k ) z k

n
y
(
n
)
z

The z-Transform
System Function

Shift-Invariant System
y(n)=x(n)*h(n)

x(n)

h(n)
h(n)
X(z)

H(z)

Y(z)=X(z)H(z)

Shift-Invariant System

X(z)

Y(z)

H(z)
H(z)
YY((zz))
H
H((zz))
XX ((zz))

Nth-Order Difference Equation

NN

M
M

aa yy((nnkk))
bb xx((nnrr))
kk00

kk

rr00

rr

k 0

r 0

Y ( z ) ak z k X ( z ) br z r
M
M

rr

H
H((zz))
bbrrzz
rr00

NN

kk

aakkzz

k 0
k 0

Representation in Factored Form

Contributes poles at 0 and zeros at cr
M
M

H
H((zz))

11
AA
(
1

c
z
(1 crr z ))
rr11
NN

11
(
1

d
z
)
(
1

d
z

r
r )
kk11

Contributes zeros at 0 and poles at dr

Stable and Causal Systems

Causal Systems : ROC extends outward from the outermost pole.

Im
M
M

H
H((zz))

11
AA
(
1

c
z
(1 crr z ))
rr11
NN

11
(
1

d
z
)
(
1

d
z

r
r )
kk11

Re

Stable and Causal Systems

Stable Systems : ROC includes the unit circle.

Im
M
M

H
H((zz))

11
AA
(
1

c
z
(1 crr z ))
rr11
NN

11
(
1

d
z
)
(
1

d
z

r
r )
kk11

1
Re

Example
Consider the causal system characterized by

y (n) ay (n 1) x(n)
11
H
H((zz))
11
11az
az
h( n) a n u ( n)

Im
1

Re

Determination of Frequency Response

from pole-zero pattern
A LTI

system is completely characterized by its

pole-zero pattern.
Im

Example:
zzzz11
HH((zz))
((zz pp11)()(zz pp22))
j
j0 0 z
e
j
HH((ee j00)) j0 e jz101
((ee j0 pp11)()(ee j0 pp22))

p1
e j 0

z1

Re

p2

Determination of Frequency Response

from pole-zero pattern
A LTI jsystem

H(e
H(e )=?
)=?

is completely characterized
by its
jj
j
pole-zero pattern.

|H(e
|H(e )|=?
)|=?

Im

Example:
zzzz11
HH((zz))
((zz pp11)()(zz pp22))
j
j0 0 z
e
j
HH((ee j00)) j0 e jz101
((ee j0 pp11)()(ee j0 pp22))

p1
e j 0

z1

Re

p2

Determination of Frequency Response

from pole-zero pattern

H(e
H(e )=?
)=?

A LTI jsystem

is completely characterized
by its
jj
j
pole-zero pattern.

|H(e
|H(e )|=?
)|=?

Im

Example:
j

|H(e )| =

|
|

|
||

H(ej) = 1(2+ 3 )

z1

p1
e j 0
1

p2

Re

Example
11
H
H((zz))
11
11az
az

dB

20

Im

10
0
-10

Re

0
-1
-2